Nothing like posting things out of sequence. =) Here is the first little snippet from before the long vid I posted yesterday. The code is a little cumbersome with out using a servo controller but I wanted this to be an exercise in Propeller Programming. The Stingray Robot Controller board works very well for this.
I've got a couple of 7.2v RC batteries in Parallel for capacity - sure helps with all the experimentation not having the battery give up in the middle of a test!